|Publication number||US7316282 B2|
|Application number||US 10/961,972|
|Publication date||Jan 8, 2008|
|Filing date||Oct 8, 2004|
|Priority date||Oct 8, 2003|
|Also published as||CA2484333A1, EP1522294A2, EP1522294A3, US20050077714|
|Publication number||10961972, 961972, US 7316282 B2, US 7316282B2, US-B2-7316282, US7316282 B2, US7316282B2|
|Inventors||James P. Mulhern, Ronald Levi|
|Original Assignee||Pride Mobility Products Corporation|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (57), Non-Patent Citations (1), Referenced by (26), Classifications (15), Legal Events (5)|
|External Links: USPTO, USPTO Assignment, Espacenet|
The present application relates to and claims the benefit of the filing of U.S. Provisional Application No. 60/509,502, filed Oct. 8, 2003, and U.S. Provisional Application No. 60/552,227, filed Mar. 11, 2004; said applications being herein incorporated by reference.
The present invention relates to anti-tip systems for wheelchairs, and, more particularly, to a new and useful anti-tip system for providing improved obstacle-climbing capability.
Self-propelled or powered wheelchairs have vastly improved the mobility/transportability of the disabled and/or handicapped. Whereas in the past disabled/handicapped individuals were nearly entirely reliant upon the assistance of others for transportation, the Americans with Disabilities Act (ADA) of June 1990 has effected sweeping changes to provide equal access and freedom of movement/mobility for disabled individuals. Notably, various structural changes have been mandated to the construction of homes, offices, entrances, sidewalks, and even parkway/river crossings, e.g., bridges, to include enlarged entrances, powered doorways, entrance ramps, curb ramps, etc., to ease mobility for disabled persons in and around society.
Along with these societal changes, it has become possible to offer better, more agile, longer-running and/or more stable powered wheelchairs to take full advantage of the new freedoms imbued by the ADA. More specifically, various technologies, initially developed for the automobile and aircraft industries, are being successfully applied to powered wheelchairs to enhance the ease of control, improve stability, and/or reduce wheelchair weight and bulk. For example, sidearm controllers, i.e., multi-axis joysticks, employed in high technology VTOL and fighter aircraft, are being utilized for controlling the speed and direction of powered wheelchairs. Innovations made in the design of automobile suspension systems, e.g., active suspension systems, which vary spring stiffness to vary ride efficacy, have also been adapted to wheelchairs to improve and stabilize powered wheelchairs. Other examples include the use of high-strength fiber reinforced composites, e.g. graphite, fiberglass, etc. to improve the strength of the wheelchair frame while reducing weight and bulk.
One particular system which has gained widespread popularity/acceptance is the mid-wheel drive powered wheelchair, and more particularly such powered wheelchairs with anti-tip systems. Mid-wheel drive powered wheelchairs generally have a pair of drive wheels with a common rotational axis positioned slightly forward of the combined center of gravity of the occupant and wheelchair to provide enhanced mobility and maneuverability. Anti-tip systems provide enhanced stability of the wheelchair about its pitch axis and, in some of the more sophisticated anti-tip designs, improve the obstacle or curb-climbing ability of the wheelchair. Such mid-wheel powered wheelchairs and/or powered wheelchairs having anti-tip systems are disclosed in Schaffner et al. U.S. Pat. Nos. 5,944,131 & 6,129,165, both issued and assigned to Pride Mobility Products Corporation located in Exeter, Pa.
While such wheelchair designs have vastly improved the capability and stability of powered wheelchairs, designers thereof are continually being challenged to examine and improve wheelchair design and construction. For example, the Schaffner '131 patent discloses a mid-wheel drive wheelchair having a passive anti-tip system. That passive anti-tip system functions principally to prevent forward tipping of the wheelchair. The anti-tip wheel in the Schaffner '131 patent is pivotally mounted to a vertical frame support about a pivot point which lies above the rotational axis of the anti-tip wheel. Because of the geometry of the passive anti-tip system, the anti-tip wheel must contact a curb or other obstacle at a point below its rotational axis to cause the wheel to “kick” upwardly and climb over the obstacle. Consequently, this geometric relationship limits the curb-climbing ability of the wheelchair.
The Schaffner '165 patent discloses a mid-wheel drive powered wheelchair having an anti-tip system which is “active” in contrast to the passive system discussed previously and disclosed in the '131 patent. That active anti-tip system is responsive to torque applied by the drive motor, or pitch motion of the wheelchair frame about its effective pitch axis, to vary the position of the anti-tip wheels actively, thereby improving the wheelchair's ability to climb curbs or overcome obstacles. More specifically, the active anti-tip system of the Schaffner '165 patent mechanically couples the suspension system of the anti-tip wheel to the drive train assembly such that the anti-tip wheels displace upwardly or downwardly as a function of the magnitude of: (i) torque applied by the drive train assembly, (ii) angular acceleration of the frame or (iii) pitch motion of the frame relative to the drive wheels.
While the active anti-tip system disclosed in the Schaffner patent '165 offers significant advances by comparison to prior art passive systems, the one piece construction of the suspension arm 124, with its single pivot connection 108, necessarily requires that both the drive train assembly 107 and the anti-tip wheel 116 move through the same angle about the pivot 108, relative to the frame 103. As a result, the arc length or up or down displacement of the anti-tip wheel 116 is limited by the angle through which the drive train assembly 107 moves. The single pivot mount design, while elegant and simple, thus limits the freedom available for the designer to satisfy other requirements.
Moreover, when the anti-tip wheel 116 contacts a vertical curb or obstacle at or near a point which is in-line with the wheel's rotational axis, the point of contact is below the pivot connection 108. That will produce a force couple rotating the suspension arm 124 downwardly, so the anti-tip wheel 116 will also tend to move downwardly. This downward travel is, of course, contrary to a desired upward motion for climbing curbs and/or other obstacles.
Other wheelchair anti-tip systems exist, such as the one illustrated and described in published International Patent Application No. WO 03/030800 A1 assigned to Invacare Corporation. This suspension/anti-tip system employs an arrangement of links. The anti tip wheel moves up and down because the anti tip wheel is mounted on the front end of a fore-and-aft suspension arm carrying the motors and drive wheels. In addition, the anti tip wheel swings rearwardly and upwardly about the front end of the suspension arm when the front end of the suspension arm rises, and vice versa.
In one embodiment of the invention, an anti-tip system is adapted for use in a powered wheelchair for improving the curb-climbing ability of a powered wheelchair. The anti-tip system includes at least one anti-tip wheel, a suspension arm for mounting the anti-tip wheel, and a pair of links for coupling the suspension arm to the main structural frame of the wheelchair. Each of the links is pivotally mounted to the main structural frame of the wheelchair about a first pivot point and is pivotally mounted to the suspension arm about a second pivot point. At least one of the links is variable in length to facilitate angular displacement of the suspension arm to effect longitudinal motion of the anti-tip wheel.
In another embodiment of the invention, an anti-tip system is adapted for use in a powered wheelchair for improving the curb-climbing ability of a powered wheelchair and enhancing the stability of the powered wheelchair about a pitch axis. The powered wheelchair includes a drive train assembly pivotally mounted to a main structural frame of the wheelchair and may include a suspension system for biasing the drive train assembly and/or an anti-tip system to a predetermined resting position. The drive train assembly rotates about the pivot axis in response to torque applied by the drive motor during operation of the wheelchair. The “kneeling” anti-tip system has a suspension arm for mounting the anti-tip wheel about a rotational axis. A pair of links are pivotally mounted to the wheelchair main frame and to the suspension arm. At least one of the links is caused to rotate in response to torque applied by the drive motor through a third link, thereby causing the suspension arm to move up and down and rotate to effect vertical and longitudinal displacement of the anti-tip wheel. Preferably, the anti-tip wheel is a front wheel and moves rearwardly and unrearwardly upon acceleration for climbing curbs, and displaces forwardly and downwardly, upon deceleration for pitch stabilization.
For the purpose of illustrating the invention, there are shown in the drawings various forms that are presently preferred; it being understood, however, that this invention is not limited to the precise arrangements and constructions particularly shown.
Referring now to
To facilitate the description it will be useful to define a coordinate system as a point of reference for certain described geometric relationships including the direction and/or angular orientation of the various anti-tip system components.
The anti-tip system 20 includes a suspension arm 24 for mounting an anti-tip wheel 16. The suspension arm has a longitudinal axis 24 A which, in the rest position of the wheelchair on level ground with the forces suspending the anti-tip wheel 16 are in equilibrium, as shown in
A pair of links 30, 34 are each pivotally mounted about a respective first axis P1 A to the wheelchair main frame 3 and pivotally mounted about a respective second pivot axis P2 A to the vertical suspension arm 24.
In the wheelchair 2 shown in
Referring now especially to
As shown in
The drive train assembly 7 and anti-tip system 20 are biased to a predetermined “rest” position by the suspension assembly 9 best seen in
The central collar 9C is pivotally mounted to a bracket on the drive train assembly 7. The upper end of the tension member 9T is pivotally mounted via a clevis attachment to the main structural frame 3. The spring elements 52 a, 52 b are compression coil springs that envelop the tension member 9T and are tied to the collar 9C at one end of the coil springs, and to respective ends of the tension member 9T at the other. Consequently, the tension member 9T can translate up and down within the spring elements 52 a, 52 b and the central collar 9C (best seen in
Referring now to
The bracket 52, which is mounted to the drive train assembly 7, also rotates in the clockwise direction. The bracket 52 extends downwardly away from the pivot axis 8, so it moves forward, and thus pushes forward the third link 48, and the bottom end of the second arm 44 of the crank link 40. The movement of the second crank arm 44 causes the crank link 40 to rotate in the same clockwise direction, as shown by arrow R40. The clockwise rotation of the crank link 40 causes the first crank arm, which is the lower link 34, to rotate upwardly. The upward movement of the lower link 34 displaces the suspension arm 24 upwards which causes the upper link 30 to rotate clockwise about its pivot P1 A, as shown by the arrow R30. This motion is conveyed by the upward displacement of the suspension arm 24.
In the operating mode shown in
As shown in
Referring now to
The anti-tip system 220 shown in
A pair of links 230, 234 are pivotally mounted to the wheelchair main frame 203 and to the vertical suspension arm 224. Each of the links 230, 234 is pivotally mounted about a respective first pivot axis P2 A to the main structural frame 203 and is pivotally mounted about a respective second pivot axis P2 A to the suspension arm 224. The length R230, R234 of each of the links 230, 234 is the arc radius RL for motion of the respective second pivot axis P2 A as the link rotates about the respective first pivot axis P2 A. The length RL of one of the links 230, 234 may be greater than the length RL of the other. Furthermore, at least one of the links 230, 234 is caused to rotate in response to torque applied by the drive train assembly 207. That is, a mechanism is provided to transfer the bi-directional rotary motion of the drive train assembly 207 to one of the links 230, 234.
Depending upon the orientation and length of each of the links 230, 234, the linkage arrangement of the anti-tip system 220 causes the anti-tip wheel 216 to translate vertically, in the ±Z direction, and/or longitudinally, in the forward and aft or ±X direction. The advantages of such arrangement will be discussed in greater detail hereinafter, however, it should be appreciated that the anti-tip wheel 216 may “kneel” rearwardly or “step” forwardly to change the orientation or angle with which the wheel 216 addresses an obstacle or is positioned relative to the ground plane GP. The anti-tip system 220 introduces another displacement variable, the ability to displace the anti-tip wheel 216 longitudinally, to overcome obstacles or provide pitch stabilization.
As shown in
As shown in
As shown in
The bracket 252, which is mounted to the drive train assembly 207, also rotates in the clockwise direction. The bracket 252 extends downwardly away from the pivot axis 208, so it moves forwards, and thus pushes forwards the third link 248, and the bottom end of the second arm 244 of the crank link 240. The movement of the second crank arm 244 causes the crank link 240 to rotate in the same clockwise direction, as shown by arrow R240 in
The clockwise rotation of the lower link 234, upwards from the horizontal, causes the pivot point L2 to move rearwardly in the direction of arrow DL234 in
The inward or rearward motion of the anti-tip wheel 216 enhances the curb-climbing ability of the anti-tip system 220 and of the wheelchair 202. That is, in addition to upward displacement, the linkage arrangement causes the anti-tip wheel 216 to displace rearwardly (i.e., to “kneel”), thereby changing the angle with which the wheel 216 addresses or impacts an object or curb 250. While prior art anti-tip systems tend to cause the anti-tip wheel 216 to move forwardly as it moves upwardly, the present invention produces an opposite effect by taking advantage of a four-bar linkage having links that are of different radii and that describe non-similar arcuate paths.
The anti-tip system 220 provides an advantageous geometric relationship to enhance the curb and/or obstacle climbing ability of an anti-tip system 220. That is, a four-bar linkage arrangement is employed to cause the anti-tip wheel 216 to displace longitudinally aft for curb-climbing, or longitudinally forward for pitch stabilization. The variation in longitudinal position causes the wheel 216 to address a curb or contact a ground plane GP at a different angle or position to augment the curb-climbing or pitch stabilizing effect of the active anti-tip system 220.
While it is readily apparent how the upward travel of the anti-tip wheel 16, 216 as the link 34, 234 is raised can improve or expand the operational envelope for curb-climbing, the advantages provided by the inward or rearward displacement of the anti-tip wheel as the suspension arm 24, 224 rotates are more subtle. Referring again to
In addition to the upward component of motion as the suspension arm rotates as shown in
The pivoting motion of the links 30, 34 upwards from the horizontal resting position as shown in
In summary, the anti-tip system 20, 202 of the present invention provides an advantageous geometric relationship to enhance the curb and/or obstacle climbing ability of an anti-tip system. That is, the anti-tip system 20, 220 employs an adaptable linkage arrangement having pivotable links for lifting/raising the anti-tip wheel in a vertical direction and, in a first embodiment of the invention, at least one variable length link for facilitating angular displacement of a suspension arm and inward displacement of the anti-tip wheel.
While the anti-tip system 20, 220 has been described in terms of an embodiment which best exemplifies the anticipated use and application thereof, other embodiments are contemplated which also fall within the scope and spirit of the invention. For example, while the anti-tip system 20, 220 has been described in the context of an active anti-tip system for a powered wheelchair, the anti-tip linkage arrangement 20 is also applicable to passive anti-tip systems. That is, in a passive anti-tip system, the links 30, 34 are not coupled to the drive train assembly 7, but are spring-biased by the suspension system to a predetermined operating position, for example, resting on the ground plane GP. Such a passive system provides pitch stabilization, but is more limited in its ability to traverse obstacles. That is, contact with an obstacle effects vertical displacement in such a passive system whereas the bi-directional pivot motion of the drive train assembly effects vertical displacement in the active system of the preferred embodiment.
In the interests of clarity, the variable-length link 30 has been described in one embodiment, see especially
Further, while the anti-tip system 20, 220 has been illustrated and described in terms of a forward anti-tip system, taking the “front” as the direction in which a user sitting in the seat 4, 204 faces and towards which the wheelchair principally moves, the anti-tip system is equally applicable to a system which stabilizes a rearward or aft tipping motion of a wheelchair. Furthermore, the specific embodiments show the anti-tip wheel 16, 216 as being in contact with the ground plane in the rest position. However, the anti-tip wheel 16, 216 may be normally in or out of ground contact, depending in part upon whether a fixed-axis or castored anti-tip wheel is employed.
While a bracket 52, 252, a crank arm 44, 244 and third link 48, 248 are shown in the drawings for conveying the bi-directional motion of the drive train assembly 7, 207 to the parallel links 30, 34, 230, 234, any of a variety of motion conveying devices may be employed. Moreover, while the adaptable anti-tip system 20 in the embodiment shown in
Moreover, while the drive train assembly 207 is shown in
While the suspension 9 shown in
Further, a variety of other modifications to the embodiments will be apparent to those skilled in the art from the disclosure provided herein. Thus, the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof and, accordingly, reference should be made to the appended claims, rather than to the foregoing specification, as indicating the scope of the invention.
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|U.S. Classification||180/65.1, 180/907, 280/250.1, 280/304.1|
|International Classification||A61G5/04, A61G5/10, A61G5/06|
|Cooperative Classification||Y10S180/907, A61G5/063, A61G2005/1078, A61G2005/1089, A61G5/043, A61G5/06|
|European Classification||A61G5/06, A61G5/04A4|
|Jan 18, 2005||AS||Assignment|
Owner name: PRIDE MOBILITY PRODUCTS CORPORATION, PENNSYLVANIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MULHERN, JAMES P.;LEVI, RONALD;REEL/FRAME:016156/0733
Effective date: 20041007
|Aug 12, 2008||CC||Certificate of correction|
|Mar 18, 2009||AS||Assignment|
Owner name: MANUFACTURERS AND TRADERS TRUST COMPANY, NEW YORK
Free format text: SECURITY AGREEMENT;ASSIGNOR:PRIDE MOBILITY PRODUCTS CORPORATION;REEL/FRAME:022408/0671
Effective date: 20081107
Owner name: MANUFACTURERS AND TRADERS TRUST COMPANY,NEW YORK
Free format text: SECURITY AGREEMENT;ASSIGNOR:PRIDE MOBILITY PRODUCTS CORPORATION;REEL/FRAME:022408/0671
Effective date: 20081107
|Jun 8, 2011||FPAY||Fee payment|
Year of fee payment: 4
|Jun 24, 2015||FPAY||Fee payment|
Year of fee payment: 8